[Xenomai-help] pthread_make_periodic_np and clock_gettime

* [Xenomai-help] pthread_make_periodic_np and clock_gettime
@ 2007-02-13 12:07 Roderik_Wildenburg
  2007-02-13 19:20 ` Jan Kiszka
  0 siblings, 1 reply; 4+ messages in thread
From: Roderik_Wildenburg @ 2007-02-13 12:07 UTC (permalink / raw)
  To: Xenomai-help

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Can anybody tell me, how I have to set the 2. parameter (starttp) of
pthread_make_periodic_np ?
When I use clock_gettime to fill startp I get a giant timeout value in
the /proc/xenomai/sched list and my task never gets periodic.

Is this just a problem of my hardware(PPC)/xenomai(2.3) combination or
does anybody else have the same problem. 

See attached code example for easier testing.

Thanks a lot for your help
Roderik

MAN Roland Druckmaschinen AG
Vorsitzender des Aufsichtsrates: Hanno C. Fiedler
Vorstand: Gerd Finkbeiner (Vorsitzender), Dr. Ingo Koch, Dr. Markus Rall, Paul Steidle
Sitz der Gesellschaft: Offenbach am Main, Registergericht: Amtsgericht Offenbach HRB-Nr. 42592
USt-Ident-Nr. DE 250200933

[-- Attachment #2: pperiodic.c --]
[-- Type: application/octet-stream, Size: 2144 bytes --]

#include <time.h>
#include <errno.h>
#include <unistd.h>
#include <signal.h>
#include <sys/mman.h>
#include <posix/pthread.h>
#include <stdio.h>

#define CYCTASK_PRI    1
#define CYCTASK_STACK_SIZE  8192

pthread_t cyktaskid;

void cyc_task(void *t2dummy)
{
   int nResult;
   struct timespec tstart;
   struct timespec tperiod;
   int cyc;
   unsigned long nOverrun;

   if( (nResult=clock_gettime(CLOCK_REALTIME,&tstart))!=0)
      printf("!!WARNING!! clock_gettime failed");
   else
      printf("clock_gettime : %ld %ld\n",tstart.tv_sec,tstart.tv_nsec);

   tstart.tv_sec ++;
   tstart.tv_nsec = 100000;

   tperiod.tv_sec = 1;    // sec
   tperiod.tv_nsec = 0;      // nsec

   printf("period : %ld %ld\n",tperiod.tv_sec,tperiod.tv_nsec);

   if (( nResult = pthread_make_periodic_np(pthread_self(),&tstart,&tperiod)) == 0)
   {
      while (1)
      {
         printf("CykleTask %d\n",cyc++);
         if ((nResult = pthread_wait_np(&nOverrun)) != 0)
            printf("systick overrun %d",nOverrun);
      }
   }
   else
   {
      printf("failed to start timer");
   }
}

void __xeno_user_exit (void)
{
}

int __xeno_user_init (void)
{
    struct sched_param parm;
    pthread_attr_t attr;
    int rc = 0, fd = -1;

    pthread_attr_init(&attr);
    pthread_attr_setinheritsched(&attr, 1);
    pthread_attr_setschedpolicy(&attr, SCHED_FIFO);

    pthread_attr_setstacksize(&attr, CYCTASK_STACK_SIZE);
    parm.sched_priority = CYCTASK_PRI;
    pthread_attr_setschedparam(&attr, &parm);
    rc = pthread_create(&cyktaskid, &attr, &cyc_task, NULL);
    if (rc)
    {
        printf("pthread_create(cyktask): %d\n", rc);
    }

    return rc;
}

int main (int ac, char *av[])

{
    sigset_t mask;
    int rc, sig;

    sigemptyset(&mask);
    sigaddset(&mask,SIGINT);
    sigaddset(&mask,SIGTERM);
    sigaddset(&mask,SIGHUP);
    sigaddset(&mask,SIGALRM);

    pthread_sigmask(SIG_BLOCK, &mask, NULL);

    mlockall(MCL_CURRENT|MCL_FUTURE);

    rc = __xeno_user_init();

    if (rc)
    {
        printf("__xeno_user_init: %d\n", -rc);
        return -rc;
    }

    sigwait(&mask, &sig);
    __xeno_user_exit();

    return 0;
}

^ permalink raw reply	[flat|nested] 4+ messages in thread